Smart door open bot apparatus and methods

ABSTRACT

An apparatus for intelligently predicting human intent for accessing door entry or exit is provided. Firstly, the apparatus provides a hygienic and frictionless smart door opening bot that opens and closes based on identifying an authorized person. Particularly, the apparatus identifies proper internal exit intent from the inside. Further, the present invention predicts intent motion of an authorized user. In addition, the present invention operates remotely. Moreover, the present invention provides an ability to remotely control an accessing control device that can communicate via a remote control. In addition, the present invention facilitates easy installation without any tools. Further, the present invention facilitates the design and implementation of an automatic battery swap facility for the prolonged activities of the door open smart bot. In particular, the battery swap station is implemented with battery off-line recharging and on-line exchanging methods. Furthermore, the present invention connects to wireless access devices such as face recognition, BLE, Wi-Fi, UWB or other means accordingly. As an example, in an event where a bot can detect the user via access devices the smart bot can recognize authorized users via voice recognition wake words.

RELATED APPLICATION

This application claims priority under 35 U.S.C. 120 to copending U.S. application Ser. No. 16/919,897 filed Jul. 2, 2020, entitled “TOUCH-FREE DOOR APPARATUS, SYSTEM AND METHODS THEREOF”, which claims priority to U.S. Provisional Application No. 63/007,258 filed Apr. 8, 2020, entitled “TOUCH-FREE DOOR APPARATUS, SYSTEM AND METHODS THEREOF”, which are hereby incorporated herein by reference.

TECHNICAL FIELD

The present technology is generally directed to intelligent human intent, predictive automatic door access control systems, and more particularly to a novel tool-less installation of such systems to adapt to existing doors and provide touch-free secure door opening and closing.

BACKGROUND

The background description provided herein is for the purpose of generally presenting the context of the disclosure. Work of the presently named inventors, to the extent it is described in this background section, as well as aspects of the description that may not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present disclosure.

In various applications, electrically powered swing arm based automatic door opening/closing devices are well known. A simple string, pulley and counterweight is sufficient to close a door after opening. For example, as a caregiver of an elderly person with an assistive walking device (commonly referred to as a walker), we asked what we could do to make her life easier. She requested an easier way for her to open and close the doors so that she could get through them by herself. We researched the most common reason for falls of the elderly and handicapped and found that trying to maneuver beyond a current level of functioning was a major problem. It was apparent that backing up, and one-handed operation of an assistive walking device, (Walker, cane, or crutches) is a very unsafe situation. Opening a door in a wheelchair is also a difficult maneuver and often requires unsafe reaching forward. Having doors for bedroom, bathroom, etc. open upon approach, and being able to continue in a forward motion and close without turning around, would greatly increase safety and convenience.

In many applications, the automatic door opening systems are used in commercial buildings, shopping malls, theatres, etc. These systems are used to open the door when a person comes near to the entrance of the door and closes it after he moves away from the door or after entering the door. Automatic doors are used throughout industrial and commercial environments to enable easy access to a building, offering a wide range of benefits. One of the main advantages to having an automatic door is the convenience that comes with it. An automatic door allows people to pass through a door with ease without the worry of manually opening a heavy door, meaning that your customers will feel welcomed from the moment they step foot in your premises. This can be highly effective at solving accessibility issues, as those with disabilities are able to enter the building with ease and without complication.

Conventional door clampers/dampers are needed for doors in residential homes because it is often desirable to hold the doors partially or fully open for example for airing the rooms in a way which ensures that the door is not rapidly opened or closed by wind or drafts in such a way that damages occur by the door or door handle hitting for example furniture pieces or an adjacent wall causing possibly glass in the door to break or the furniture or walls to be damaged. Exit doors often contribute the most to noise issues, making them an essential element in any door accessing methods treatment. In events, rubbing noises due to metal rail bends, loose parts of the door such as rollers, hinges, nuts, bolts and chain, poor lubrication, unbalanced doors where the springs may be exerting too much tension cause great deal of noises. The largest gap in a wall and weakest link for soundproofing is a doorway. Often, the space around the door leaks noise. Further, the space at the bottom of the door is often a much larger gap than the space around the sides, so it allows even more sound to leak through. Adding to the issue is that most exit doors have a hollow core. While this makes them more cost-effective, it causes more noise problems. Even the mechanism of the doorknob can admit some sounds. Soundproofing the exit door helps address all these issues. Soundproofing a door also provides a helpful ancillary benefit: temperature insulation. Many of the tools and materials used for soundproofing also provide insulation from extreme temperatures. Though soundproofing exit doors help improve the air quality, humidity, and comfort, it may need to do some adjustments in the current infrastructure and that may result in some tampering. Hence, embodiments of our smart bot prevent all these hurdles since it is much cheaper and utilizes a touch free battery operation. Further, the bot can be integrated to any current existing access control system without disturbing its position.

Because of the unattractive appearance of the door clampers in connection with interior doors, there is no demand for such door dampers and they are therefore also not available for use in connection with interior doors, and consequently other unattractive and cumbersome devices such as wedges or cords or chains are used to hold the doors in open or partially open positions which devices however generally do not really lock the door in a position but prevent it only from closing, that is, they do not permit locking a door in a partially open position.

Accordingly, there is a need for intelligent door opener having advanced features such as firstly, providing an automatic door opening and closing mechanism based on the predicted actions of an authorized user based on his intent actions towards the door. Further, the door opener should provide auto clamping provisions to perfectly latch on any kind of doors such as glass door or wooden door with variable door thickness and different floor gaps. Further, the need for a door opener is to operate on a battery so that it is easy to install and run. Another need is for a battery swapping method in the door opener so that it can quickly swap the battery when it runs out of charge. Furthermore, the door opener should be connected wireless having options such as BLE, ZigBee, UWB or the like to connect to the user's mobile phone, existing access control system or any other system that can send commands to the door opener. Moreover, the door opener should also have an integrated electromagnetic lock as an add-on so that it locks the door when it is closed.

SUMMARY OF THE INVENTION

Accordingly, in one aspect, it is an object of the present invention to provide a hygienic and frictionless touch free door opening bot that opens and closes based on identifying an authorized person or proper internal exit from the inside. For example, as the days went by and the contagious spread such as epidemics or pandemics or present circumstances like covid-19, we became more and more aware how many times we must touch things that must be full of germs. Elevator buttons, buttons to pay by credit card at stores and gas pumps and of course pulling open doors to public bathrooms and after that the Hygiene Hand was born. In one way, the present invention is a hygienic and frictionless touch free door opening bot that opens and closes based on identifying an authorized person or proper internal exit intent from the inside. The smart door bot attaches to the bottom of the door and engages its wheel to the door to create friction and open/close the door during operation without requiring touch and can be triggered through facial recognition or any other access control system and exit through intent or voice command.

In another aspect, the object of the present invention is an automatic clamping mechanism which is to be easily installable without any tools or any tampering of the doors unlike conventional swing door openers that require wires, installation, and modification of existing doors. The door bot contains vertical and horizontal clamp movements that will clamp to the bottom of the door. The smart door bot includes two motors firstly, a vertical clamp movement and secondly, a horizontal clamp movement to tackle the door to floor height and door thickness, respectively. Further, the extreme ends are automatically calibrated, detected, and controlled by utilizing a current sensor” with “clamp automatically tightens on the door by utilizing current sensors and software level algorithms. As an exemplary example, the process is such as firstly, the user will slide the smart door open bot underneath the door. Secondly, the user will power ON the bot. Further, the user will press the installation start activity. Furthermore, the automatic clamp will initiate and adjust the door accordingly to floor gap and door thickness. Subsequently, the user will press the installation complete activity. As a result, the product balancers will drop down.

In another aspect, it is an object of the present invention to predict intent motion of an authorized user. In one embodiment, the intent prediction of an authorized user to open or close a door is done by ways of artificial intelligence techniques like voice commands and image processing. Moreover, this method is useful for the authorized user to open the door from inside the room on the door where the smart door open bot is installed. In one example, we may assume that the door open bot will be installed inside the room and when the user approaches the door with the intention of opening it, they can do so in two events. As an example, in an event where a bot can detect the user via access devices the smart bot can recognize authorized users via voice recognition wake words. These words are trained using neural networks as the microphone keeps listening to these words and voice will be alerted accordingly thereof.

In one event, when the authorized user approaches the door open bot as installed on the door, facing the approaching authorized user in defined field of view (FOV) angle, the motion sensor triggers a signal, and the door open bot starts listening to the voice commands and directs the user on the screen to speak out the respective voice command. i.e., “door open” for opening a door. Furthermore, when the authorized user speaks out the command, those commands are validated and verified by the on-device always-on AI processors and the door open bot will open the door. Subsequently, the door will remain open for a fixed (can be configurable later) amount of time say 20 seconds and close automatically.

In another event, when the authorized user approaches the door open bot as installed on the door, facing the approaching authorized user in defined field of view (FOV) angle, the authorized user's intention of opening the door is predicted. Hence, the authorized user's approach is identified from a predetermined zone by the camera and accordingly the door is opened by the time the user approaches the door.

In another aspect, the object of the present invention is to facilitate the design and implementation of an automatic battery swap system for the prolonged activities of door open bot. Door bot runs on battery to open and close the door. Battery operation is needed so that no power cable needs to be run along the door opening, closing area. A battery swap station is proposed to implement battery off-line recharging and on-line exchanging functions. It consists of a loading and unloading mechanism, a shifting mechanism, a locking device, and a shell. The door open bot has a removable battery case in the front. The influences of battery case deflection and robot docking deflection on the battery swap operations can be investigated. The bot's swappable battery can last for three months. It should be noted that the bot on the screen indicates the battery power levels and subsequently notifies a message indicating change of battery to the authorized user.

In another aspect, a clutch mechanism is disclosed. In one aspect, a stateful clutch is an electromechanical entity as part of the drive wheel of the bot. Further, there are two states that include an engaged state and a dis-engaged state. In one way, when the stateful clutch is in engaged state, the gear box comprising all the gears will be meshed together & the torque will be transmitted along the powertrain. In another way, when the stateful clutch is in dis-engaged state, the gear box comprising all the gears will not be meshed likewise not in contact and hence, the torque will not be transferred along the powertrain. It should be noted that since the stateful clutch requires only electrical input and the state either engaged or dis-engaged will not change and remain constant. It should be noted with high attention that when the smart door open bot shuts down completely either by battery outage or any other emergency, the clutch will be in dis-engaged state resulting the torque transmission being cut-off to make the wheels functioning with ease. Consequently, the smart door open bot will operate freely with wheels and the authorized user will be enabled to open or close the door manually without any difficulty.

In another aspect, the object of the present invention is to be operated remotely. The ability to remotely control a commercial door unit is typically provided by a dedicated remote control. In some cases, local control may also be available via a panel mounted near the door. Such systems allow for controlling (e.g., opening and closing) the door unit from short distances while a user is on-site and actively utilizing the door. However, when the user is not close to the door installation (e.g., on vacation or otherwise physically absent from the area) but desires to remotely open, close, or monitor the door, then the switch panel or short-distance remote control are not adequate. Hence, the present technology enables the facility to monitor the smart door open bot across the organization or the premises. The bot can be remotely operated and can also be controlled via a central dashboard.

In yet another aspect, the object of the present invention is to connect to wireless access devices such as face recognition, BLE, Wi-fi, UWB or other means accordingly. Further objects and advantages of the present invention will become apparent by reference to the following detailed description of the present embodiment and appended drawings wherein like reference numbers refer to the same feature, component, or element.

In another aspect, a smart door open bot apparatus is provided that includes: a camera for detecting a foot portion of at least one authorized user in the vicinity of a door latched with the bot; a sensor that detects the at least one authorized user standing in a predetermined range from the door latched with the bot; a docking module including an energy release button which outputs a drive signal for opening and closing the door wherein the sensor directed by the camera determines whether the at least one authorized user has an intention of: aspects towards the door based on whether a detection signal indicative of detecting the foot portion is input from the camera, characterized in that the sensor further determines whether the at least one authorized user does not stand in the predetermined range from the door latched to the bot and the door can be opened or closed based on the detection signal from the sensor, and wherein the energy release button is configured to output the drive signal for opening and closing the door when the sensor directed by the camera determines that the at least one authorized user has an intention of one of a plurality of aspects towards the door based on the detection of the foot portion by the camera while the at least one authorized user does not stand in the predetermined range from the door; a screen which displays one of a plurality of messages that reflects one of a set of commands intended by the at least one authorized user; and a clamp which automatically latches with the door to self-calibrate operative of at least one mode.

In at least one embodiment, the bot includes a battery pack for exchanging at least one powered battery placed inside the smart door open bot.

In at least one embodiment, the sensor is configured for receiving data relating to the aspects of the at least one authorized user, including data from the camera, the sensor, or a combination thereof.

In at least one embodiment, the bot is configured for extracting, at the smart door open bot, from the received data, features relevant to events relating to the at least one authorized user.

In at least one embodiment, the bot is configured for extracting, at the smart door open bot, at least one intent of at least one event relating to the at least one authorized user.

In at least one embodiment, the bot is configured for performing, at the smart door open bot, an action based on the extracted at least one intent.

In at least one embodiment, the data relating to the aspects of the at least one authorized user comprises live data retrieved from a plurality of capture points that the at least one authorized user is exposed to and wherein the bot interacts with at least one of the camera, the sensor, a depth AI camera, microphone, smart mobile, smart watch, smart door lock, voice controller, or mobile robot.

In at least one embodiment, the at least one sensor comprises at least one of an audio sensor, video sensor, or biometric sensor.

In at least one embodiment, the data further comprises at least one of text, audio, video, social media content, chat, SMS, email, real-time movements, breathing, cardiac frequency, and sleep patterns.

In at least one embodiment, the one of the at least one of the set of commands is reflected from the at least one authorized user or occurrence when the smart door open bot adjusts height in accordance with the door during an event of opening or closing the door or any combination thereof.

In at least one embodiment, the camera matches walking patterns by detecting speed and direction of the foot of the at least one authorized user.

In at least one embodiment, the docking module acts as a lock member when engaged with a power transfer line, the power transfer line is locked to supply power to the bot.

In at least one embodiment, the docking module acts as a unlock member when engaged with a power transfer line, the power transfer line is unlocked to supply power to the bot.

In at least one embodiment, thickness of the door is maintained between minimum of three millimeter to maximum of thirty-five millimeter.

The smart door open bot apparatus of claim 1, wherein gap between floor and the door is maintained between minimum of three millimeter to maximum of twenty-five millimeter.

In at least one embodiment, the bot is enabled to communicate via at least one interface for transmitting and receiving signals selected from the group consisting of a wired communications interface, a wireless communications interface, a cellular communications interface, a Wi-Fi communications interface, a near field communications interface, an infrared communications interface, a ZigBee communications interface, a Z-Wave communications interface, and a Bluetooth communication interface.

BRIEF DESCRIPTION OF THE DRAWINGS

For a full understanding of the technology, reference is made to the following detailed description, taken in connection with the accompanying drawings.

FIG. 1 is a flowchart illustrating the working of the smart door open bot works in accordance with one embodiment disclosed herein;

FIG. 2A is an isometric view of the unclamped state of a smart door open bot in accordance with another embodiment disclosed herein;

FIG. 2B is an isometric view of vertically clamped state of a smart door open bot in accordance with another embodiment disclosed herein;

FIG. 2C is an isometric view of vertically and horizontally clamped state of the smart door open bot in accordance with another embodiment disclosed herein;

FIG. 3A is a block diagram of the smart door open bot with battery door opened in accordance with another embodiment disclosed herein;

FIG. 3B is a block diagram of the smart door open bot with replacement of battery pack in accordance with another embodiment disclosed herein;

FIG. 3C is a block diagram of the smart door open bot with installed battery pack in accordance with another embodiment disclosed herein;

FIG. 4 is a block diagram of the smart door open bot showing intent detection in accordance with another embodiment described herein;

FIG. 5A is a block diagram of the smart door open bot with an electromagnetic lock demonstrating in unlocked state in accordance with another embodiment disclosed herein;

FIG. 5B is a block diagram of the smart door open bot with an electromagnetic lock demonstrating in locked state in accordance with another embodiment disclosed herein; and

FIG. 6 is an illustration of at least one authorized user walking in front of an access device in accordance with another embodiment disclosed herein; and

FIG. 7 is a perspective view of a smart door open bot mounted to a door frame connected to a door in accordance with other embodiments of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

For a full understanding of the technology, reference is made to the following detailed description, taken in connection with the accompanying drawings. The present technology is described in one or more embodiments in the following descriptions with reference to the Figures, in which numerals represent the same. While the technology is described in terms of the best mode for achieving the technology's objectives, it will be appreciated by those skilled in the art that it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the technology as defined by the appended claims and their equivalents as supported by the following disclosure and drawings.

All references including patent applications and publications cited herein are incorporated herein by reference in their entirety and for all purposes to the same extent as if each individual publication or patent or patent application was specifically and individually indicated to be incorporated by reference in its entirety for all purposes. Many modifications and variations of this technology can be made without departing from its spirit and scope, as will be apparent to those skilled in the art. The specific embodiments described herein are offered by way of example only. The above specification, examples and data provide a complete description of the manufacture and use of the composition of the technology. Since many embodiments of the technology can be made without departing from the spirit and scope of the technology, the technology resides in the claims hereinafter appended.

The shortcomings, disadvantages and problems in the Description of Related Art are addressed herein, which will be understood by reading and studying the following specification.

Apparatus, systems, and methods of varying scope are described herein. Further aspects and advantages will become apparent by reference to the drawings and by reading the detailed description that follows. In the following detailed description, reference is made to the accompanying drawings that form a part hereof, and in which is shown by way of illustration specific implementations which may be practiced. These implementations are described in sufficient detail to enable those skilled in the art to practice the implementations, and it is to be understood that other implementations may be utilized, and that logical, mechanical, electrical, and other changes may be made without departing from the scope of the implementations. The following detailed description is, therefore, not to be taken in a limiting sense.

FIG. 1 is a flowchart illustrating the working of a smart door open bot 100. In some cases, a user's movement or location is evaluated with respect to one or more other people in the field of view.

At step 50, a smart door open bot 100 is installed on a door. The smart bot 100 generally automatically opens and closes the door by detecting an authorized user's foot portion, for example, or other interaction with the smart bot 100. Various techniques are provided for allowing a person, or group of people, to easily interact with an access system using the smart door open bot. In the smart door open bot, the main component or hardware is the sensor which detects the authorized user using the Passive Infrared Sensor (PIR) 108 which in one embodiment is a motion detector sensor or a portion thereof. The bot 100 is easy to install, as per the quick start guide, latching to any door without any tools. The process preferably takes just a few minutes to install and activate. Smart door open bot is an easy-to-use tool which enables instant expression of gratitude from the user. At step 52, the door open bot 100 is latched onto the door automatically and an authorized user is detected in a predetermined region. A camera 120 can track the authorized user's foot portion and movement in a physical space and evaluate them to determine whether the person intends to engage, e.g., interact, with one or more applications integrated into the smart bot 100.

At step 54, the bot 100 is paired and provided to automatically latch the door in any position along the stroke, and a delayed action mechanism together with a mechanism to switch on and off the automatic latching and the delayed action operation modes. It should be noted that by automatic latching it is understood that, when the latching mode is on, after opening the door, this will remain open in essentially the last position, which can be anywhere along the stroke of the door, and it will close if a subsequent slight movement toward opening is applied based on a drive signal for either opening/closing the door is sent out.

At Step 56 and 58, the bot may be paired with one or more mobile devices or may be paired with any type of access devices. It should be noted that some of the access devices that the bot can be paired with may include proximity, smart card, key fob, swipe card, multi-technology, keypad, biometric, mobile, wireless, video intercom or similar or combinations thereof. The bot further adjusts the height to minimum three-millimeter gap between the bot and the door automatically clamps to self-calibrate accordingly.

At step 60, the bot further adjusts the height of the bot to minimum three-millimeter to a maximum of twenty-five-millimeter gap between the bot and the door, and the bot automatically clamps to self-calibrate accordingly for opening and closing the door thereby. At step 62, the smart door open bot 100 receives a drive signal and signals the lock lever 118 to automatically lock and unlock the door by detecting the authorized user from a predetermined area. At step 64, one of the intentional aspects of the authorized user is determined by detecting the foot portion of the authorized user at a predetermined range. The foot touch position of the authorized user can be equipped with the sensor 118, a camera 120, for detecting positions where the feet of a human touch a surface such as the ground, when intending movement towards the door.

At step 66, the intention of the authorized user is displayed on the screen 104 as one or more messages instructed via a set of commands by the authorized user on the screen 104. In general, the bot that is showing a view on the screen 104 detects a peek request event of the authorized user's intentional aspect. If the authorized user, then swipes one direction (e.g., up to a notification target), the bot 100 launches the notification intent option (e.g., the full text message in the text messaging application).

However, if the authorized user swipes another direction (e.g., down to a plurality of notification icons), the bot 100 displays a notification curtain or menu (e.g., a list of various notifications and links to each associated application). Further, the bot 100 may be an automated front-end to a network-accessible service that can be provided on a mobile device and the bot 100 can be represented as a participant within a message thread. In some cases, the bot 100 may correspond within a message thread that explicitly includes a one-on-one message thread between the authorized user and the bot 100. In other cases, the bot 100 may correspond within a message thread in which the bot 100 is not a regular participant, but a temporary participant in the message thread for the purposes of interacting with the service. The bot 100 may be included as a temporary participant in any other thread, whether a one-on-one thread between two users or a group thread between multiple users. In this regard, the user may interact with the bot 100 by sending text messages to the bot 100 and the bot 100 may acknowledge such commands in the messages string.

A voice-enabled caller may annotate the messages that the user leaves at the time the user exits and forgets to close the door. Further, in one aspect, annotation may be performed using a screen or a telephone keypad via gadgets such as mobiles, tablets, computing devices or the like. In addition to allowing the caller to specify the intent of their message and the location of crucial information more clearly within the message, the annotations allow the authorized user retrieving the message flexibility in how they listen to the message. These choices include prioritizing the messages by the importance of subject, listening to summaries of the message, and having random access to embedded information such as names and call back numbers thereby.

At step 68, the smart door open bot facilitates automatic detection to identify the battery power level and indicates an instructed message on the touch panel module. There is also a provision to exchange the powered battery effortlessly and within a few minutes. A battery pack implements battery off-line recharging and on-line exchanging functions. Further, it consists of a loading and unloading mechanism, a shifting mechanism, and an EM lock lever. The bot is wheeled with a camera and a removable battery pack. The bot communicates with the battery pack wirelessly through UWB, Bluetooth and ZigBee. The bot does not have to wait several hours for the batteries to be fully charged.

FIG. 2A—2C is an isometric view of states such as unclamped, vertically clamped and horizontally clamped states, respectively, of a smart door open bot 100. The smart door open bot 100 may be latched onto the bottom of the door 102, preferably near the door jamb as shown in FIGS. 5A-B, automatically without any tools. The bot 100 automatically adjusts the clamp 103 to account for varying heights between the floor and the door using a clamp 103. The bot 100 comprises a screen 104.

Once clamped to the door 102, the door opens/closes when the bot 100 receives an activation signal by the detector sensors such as PIR sensor and activates the drive motor to drive the wheel 107, for example, via belt and pulley. Further, bot 100 is also capable of predicting intent of the authorized user walking towards the door and accordingly based on the intentional aspects of the user and in the event when no one is detected inside the activation area, the door starts closing after a designated period. Moreover, the bot 100 closes the door in the event of the user forgetting to close the door, the user will be notified and via any of his gadgets such as mobile or tablet or any other computing device and may trigger therewith a signal and the bot 100 performs the action as instructed remotely.

A clamp 103 preferably includes a U-shaped member with a vertical component opposite the bot 100 and a horizontal component extending out of the bot to the bottom of the vertical component, as shown. Automatic clamping of the bot 100 is accomplished by placing the clamp 103 about the bottom of the door such that the door fits within the U of the U-shaped member. Thereafter, the door facing side of the bot 100 is placed to be plumb against the door 102 and for the wheel 107 to contact the ground. Thereafter, the clamp 103 vertical member may be brought inward to touch the opposite side of the door and for the horizontal member brought upward to touch the door bottom, therewith clamping the bot 100 to the door 102 in the correct orientation. The clamp 103 is released by lifting the bot 100, with a lead screw motor urging the movable member diagonally away from the door. The bot 100 may be installed anywhere along the door bottom. However, when the bot 100 is installed with the lock/docking station, the bot 100 may be installed near the door jamb with the clearance necessary for the functionality discussed below.

FIG. 3A-3C is a block diagram illustrating battery swapping mechanism with various states. Referring to FIG. 3A-3C is a process indicating three steps of replacing and exchanging by swapping the drained battery with a re-charged or powered battery. The bot 100 comprises a screen 104 and a battery pack 105.

In a first embodiment, the invention discloses the battery pack 105, preferably for use by the smart door open bot 100. The battery pack 105 comprises a battery charging position configured to perform at least one of holding at least one battery and charging at least one battery. That is, the battery charging position can be adapted to hold at least one battery for use to operate the bot 100 by keeping the battery fixed to it. The battery charging position can also be adapted to charge at least one battery. The battery charging position can be advantageous, as it can allow the battery station to store at least one battery, preferably a plurality of batteries, such as 2 to 4 batteries. The battery charging position can also be advantageous, as it can allow the battery station to charge at least one battery, preferably a plurality of batteries, such as 2 to 4 batteries, while one of the batteries provides power for the bot 100. The charging position can be particularly advantageous for the battery pack and preferably for the bot 100 if it is holding at least one charged battery or has already charged at least one battery. Thus, the battery station can provide swappable charged batteries preferably to the bot 100 for continuous power without the need for the bot 100 to wait for its batteries to charge.

The battery pack 105 has a battery load/unload position configured to facilitate loading and unloading of a battery to and from the bot 100. That is, the battery load/unload position can be configured such that, when the smart bot 100 is positioned in the battery load/unload position, at least one of the batteries of the bot 100 is aligned with the battery pack 105. The battery load/unload position can be advantageous, as it can simplify at least one load and unload of the battery from the bot 100 by the battery station.

The battery pack 105 can further comprise a battery handling mechanism configured to operate on a reaching range, said reaching range comprising at least one of the batteries of the bot 100 positioned in the battery load/unload position and the battery charging position. That is, the battery handling mechanism can operate on its reaching range. Such a reaching range can comprise at least one of the batteries of the bot 100, when the bot 100 is positioned in the battery load/unload position. The reaching range can also comprise at least one of the batteries charging positions of the battery station. Such a reaching range can be advantageous as it can allow the battery handling mechanism, thus the battery station, to reach at least one of the batteries of the mobile robot positioned in the battery load unload position. The reaching range can also allow the battery handling mechanism to reach the battery charging positions, thus the batteries that can be in the battery charging positions.

FIG. 4 is a block diagram of the smart door open bot showing intent detection of an authorized user. The bot 100 is latched onto the door frame 102. The bot 100 comprises a screen module 104, a PIR sensor 108 and a microphone 110.

The bot 100 attempts to distinguish user intent when the user engages the screen 104. Toward that end, a first command function can be offered to the user responsive to the user engagement. For example, the user touches the screen module 104 and a toolbar is presented to approximate the touch. A determination can be made whether the intended command function was offered to the user. For instance, the determination can be based upon user response to the offered command function. Continuing with the above example, if the user does not select a command from the presented toolbar, then it is likely that the intent of the user remains unsatisfied. An alternative command function can be offered to the user if it is determined that an incorrect command function was offered. For example, the toolbar may be removed and content near the user touch may be highlighted. It is understood that the information displayed may be mirrored on a mobile device so that this interaction may be accomplished by the user remotely.

The bot 100 receives a PIR signal and video signal from a passive infrared (PIR) sensor 108 having a PIR detector and camera, displaying a video image from the camera on a display, overlaying a range of the PIR detector and a magnitude of the PIR signal on the displayed video image, displaying a video image of a person walk testing the PIR sensor 108 on the display in conjunction with the overlaid range and a magnitude of the PIR signal provided by the PIR detector and receiving an adjustment from the user of a detection threshold value of the PIR sensor 108 based on the displayed image.

The bot 100 is configured with a microphone 110 to process a voice input received through the microphone 110 and the screen module 104 configured to display information corresponding to each stage of a procedure of processing the voice input. Accordingly, it is possible to provide a user with diverse information according to the voice recognition processing. This functionality too may be implemented with a mobile device in which the voice input is received by the mobile device and the instructions communicated to the bot 100 from the mobile device remotely.

FIGS. 5A and 5B is a block diagram of the smart door open bot with an electromagnetic lock demonstrating in unlocked and locked states. As shown in the FIGS. 5A and 5B the bot 100 includes an external power supply to docking module 112, an energy release button 114, a power transfer line 116 and an electromagnetic lock lever 118. The smart door open bot 100 provides a convenient means to control electrically or hydraulically controlled automatic doors or a manual door. The docking module 112 may also provide a means for charging the bot 100 batteries when contact is made therewith.

The door open bot 100 operates via a command interface module to receive information in any one of several different communication methods from one or more registered users and transmits audio command(s) to the bot 100 operatively linked to the command interface. Examples of commands include “lock” “unlock” “close” “open” “activate” and “help”. One implementation of several different interface apparatus for the command interface and another implementation of several different interface apparatus for the command interface are described.

The bot 100 receives the instruction(s) and generates one or more electric signal(s) that are specifically tailored for a wireless control to accomplish the one or more instruction(s). The bot 100 transmits the electrical signal(s) wirelessly and operatively linked, respectively. When the bot 100 operates in accordance with the electrical signal(s) it performs the command(s) from the command interfaces.

The EM lock lever 118 operates by means of electric current via the power transfer line 116. Further, the lock lever 118 with an electronic control assembly is mounted directly to the energy release button 114 which outputs a drive signal for opening and closing the door. The lock lever 118 may be connected to an access control system. It should be noted that the advantages of which include key control, where keys can be added and removed without rekeying the lock cylinder; fine access control, where time and place are factors; and transaction logging, where activity is recorded. The EM lock lever 118 further may be remotely monitored and controlled, both to lock and to unlock the door 102 via the bot 100 based on the instructions provided thereof.

When the bot 100 receives the stop message from the battery swap station which indicates the docking actions are complete, it will shut down its wheel, switch to the backup batteries and send the ready-for-swap message. If the bot 100 detects that the battery case has been swapped successfully, it switches to the main batteries, starts the wheel, and returns to work again. The bot 100 judges that the battery swap operations fail unless two conditions are met. One is that the swap-succeeded message is received. The other is that the output voltage of the battery case returns to normal. The firmware of the battery swap station implements two major functions, one of which is to assist the bot 100 to complete the docking operations and the other is to complete the battery swap operations. When the battery swap station receives the return-to-base message from the bot 100, it powers via a power transfer line 116 on the locking device to prepare for docking of the home robot. The electromagnetic attractive force generated by the sucking disk can guide the home robot in the final step of the docking process. It helps reduce docking errors and docking times. When the electromagnetic lock lever 118 detects pressure on the sucking disk and the battery pack 105 receives the ready-for-swap message from the bot 100, the battery swap process starts.

The battery swap operations depend on the cooperation of the loading/unloading mechanism and the shifting mechanism. The loading/unloading mechanism first unloads the spent battery pack 105 from the bot 100 and puts it into one of the external power supplies to docking module 112 for charging. Then the shifting mechanism moves away the spent battery pack 105 and pulls back the charged battery pack 105 to make it align with the bot 100. Finally, the loading/unloading mechanism loads the charged battery pack 105 onto the bot 100. When the battery swap process ends, the electromagnetic lock lever 118 is powered off and the battery swap station sends the swap-succeeded message to the screen to display “Battery charged”.

FIG. 6 is an illustration of at least one authorized user walking in front of an access device in accordance with another embodiment as implemented.

As shown in FIG. 6, the authorized user may walk towards the door and is detected by a camera 120 of the smart door open bot. According to an example embodiment, any other type of access device may be used which can be adaptable to interact with the bot that may be latched onto the door frame 102. The camera 120 may be used to recognize and analyze the foot portion of the authorized user in physical space such that the user's intentional aspect moving towards the door may be interpreted as an input to an application which simulates a command, instructing the bot to open the door and the same is displayed on the touch panel module.

Other movements by the authorized user may also be interpreted as other controls or actions and/or used to identify the intention aspects of the user, such as controls to bob, weave, shuffle, block, jab, or throw a variety of different events. Furthermore, some movements may be interpreted as controls that may correspond to actions other than controlling the user. The user may use movements to access the door or other accessibility application from a main user interface integrated in the camera 120. Therefore, a full range of motion of the user may be available, used, and analyzed in any suitable manner to interact with an application. The user may wear a mask when interacting with an application. In such embodiments, the movement of the person and the object may be used to control an application. The camera 120 may further be used to interpret target movements as operating system and/or application controls that are outside the realm of predetermined zones and other applications.

FIG. 7 is a perspective view of a smart door open bot 100 mounted to a door frame connected to a door. The bot 100 includes a screen 104, a battery pack 105, a drive motor 106, a wheel 107, a PIR sensor 108, a clamp motor 109, a microphone 110, a balancer 111 and a camera 120.

The screen 104 displays messages reflecting commands intended by the authorized user. The door open bot 100 starts listening to the voice commands and directs the user on screen 104 to speak out the respective voice command. The bot 100 on the screen 104 indicates the battery power levels and subsequently notifies a message indicating change of battery to the authorized user. The battery pack 105 comprises a battery charging position configured to perform at least one of holding at least one battery and charging at least one battery. That is, the battery charging position can be adapted to hold at least one battery by keeping the battery fixed to it. The battery charging position can also be adapted to charge at least one battery. The battery charging position can be advantageous, as it can allow the battery station to store at least one battery, preferably a plurality of batteries, such as 2 to 4 batteries. The battery charging position can also be advantageous, as it can allow the battery station to charge at least one battery, preferably a plurality of batteries, such as 2 to 4 batteries. The charging position can be particularly advantageous for the battery pack and preferably for the bot 100 if it is holding at least one charged battery or has already charged at least one battery. Thus, the battery station can provide charged batteries preferably to the bot 100 without the need for the bot 100 to wait for its batteries to charge.

The battery pack 105 can further comprise a battery handling mechanism configured to operate on a reaching range, said reaching range comprising at least one of the batteries of the bot 100 positioned in the battery load/unload position and the battery charging position. That is, the battery handling mechanism can operate on its reaching range. Such a reaching range can comprise at least one of the batteries of the bot 100, when the bot 100 is positioned in the battery load/unload position. The reaching range can also comprise at least one of the batteries charging positions of the battery station. Such a reaching range can be advantageous as it can allow the battery handling mechanism, thus the battery station, to reach at least one of the batteries of the mobile robot positioned in the battery load unload position. The reaching range can also allow the battery handling mechanism to reach the battery charging positions, thus the batteries that can be in the battery charging positions.

The bot 100 with a drive motor 106 connectable to a door through gear units and linkages and for moving the door between an open and a closed position. An absolute position transducer measures the absolute position of the door independently of previous positions of the door and substantially continuously. A control senses an external signal indicating one of a desired open state and closed state of the door. The control compares the absolute position of the door with the external signal and generates the drive signal to drive the motor to cause the absolute position to be substantially identical to the external signal. The motor 106 is a regenerative drive operable in all directional combinations of electrical driving torque and motor rotation. The control electrically drives the regenerative drive in a direction opposite a rotation of the regenerative drive to break a load applied to the motor 106. The control also limits the current to the motor 106, to limit the force the motor 106 applies to the door. The combination of current limiting and the regenerative drive allows the door to be externally forced opposite to motor 106 force without substantially damaging the bot 100.

The bot 100 includes a housing which may contain a wheel 107. The drive motor 106 may be in electronic communication with the wheel 107 may be coupled to the motor 106 so that the motor 106 may be operable to rotate the wheel 107 in a clockwise direction and in a counterclockwise direction. A chassis may be configured to couple the motor 106 to a door so that the wheel 107 is in contact with a ground surface below the door. The motor 106 may be operable to rotate the wheel 107 clockwise across the ground surface to motivate the door in a first direction, and the motor 106 may be operable to rotate the wheel 107 counterclockwise across the ground surface to motivate the door in a second direction. By motivating the door in either the first direction or the second direction, the device may be configured to move the door into, out of, and between the open and closed positions.

The bot 100 can prevent the door which may be transitioning from an open position to a closed position from being erroneously detected as the authorized user by temporarily changing a detection area. The bot 100 includes a PIR sensor 108 that detects the presence of the authorized user in a doorway area which includes a predetermined zone defined by the path of a door and detectors detect the presence and/or the movement of the authorized user in changeable detection areas when it is determined, by using the PIR sensor 108 that the door is transitioning from an open position to a closed position.

The drive motor 106 includes a clamp 109. The electric motor houses a rotatable shaft (not shown) supported to rotate about a shaft axis, with part of the shaft being exposed relative to the drive motor 106. Further, the motor 106 includes a mounting base and the clamp 109 is connected between the exposed part of the shaft and the mounting base. The clamp is selectively adjustable to apply a variable off-axis load to the exposed part of the shaft. The clamp 109 may operate using an automatic clamping mechanism which is to be easily installable without any tools or any tampering of the doors unlike conventional swing door openers that require wires, installation, and modification of existing doors.

The door bot 100 contains vertical and horizontal clamp movements that will clamp to the bottom of the door. Further, the extreme ends are automatically calibrated, detected, and controlled by utilizing the camera 120 and the PIR sensor 108 with clamp 109 automatically tightening on the door by utilizing the sensor 108 and software level algorithms applicable. As an example, the process is such as firstly, the user will slide the smart door open bot 100 underneath the door. Secondly, the user will power ON the bot 100. Further, the user will press the installation start activity. Furthermore, the automatic clamp 109 will initiate and adjust the door accordingly to floor gap and door thickness. Subsequently, the user will press the installation complete activity. As a result, the balancers 111 will drop down. All the beeps are alarmed using the microphone 110 and it works with the voice-based interfaces that can use natural language such as voice commands to converse with the authorized users. The microphone 100 address user needs, without the intervention of the authorized users. Interactions with microphone 100 may take place through multiple channels, such as web, desktop and through an API.

It will be understood that each block of the flowchart illustration, and combinations of blocks in the flowchart illustration, can be implemented by computer program instructions. These program instructions may be provided to a processor to produce a machine, such that the instructions, which execute on the processor, create means for implementing the actions specified in the flowchart block or blocks. The computer program instructions may be executed by a processor to cause a series of operational steps to be performed by the processor to produce a computer-implemented process such that the instructions, which execute on the processor to provide steps for implementing the actions specified in the flowchart block or blocks. The computer program instructions may also cause at least some of the operational steps shown in the blocks of the flowchart to be performed in parallel. Moreover, some of the steps may also be performed across more than one processor, such as might arise in a multiprocessor computer system. In addition, one or more blocks or combinations of blocks in the flowchart illustration may also be performed concurrently with other blocks or combinations of blocks, or even in a different sequence than illustrated without departing from the scope or spirit of the invention.

Accordingly, blocks of the flowchart illustration support combinations of means for performing the specified actions, combinations of steps for performing the specified actions and program instruction means for performing the specified actions. It will also be understood that each block of the flowchart illustration, and combinations of blocks in the flowchart illustration, can be implemented by special purpose hardware-based systems, which perform the specified actions or steps, or combinations of special purpose hardware and computer instructions. The foregoing example should not be construed as limiting and/or exhaustive, but rather, an illustrative use case to show an implementation of at least one of the various embodiments of the invention.

Further, in one or more embodiments (not shown in the figures), the logic in the illustrative flow charts may be executed using one or more embedded logic hardware devices instead of one or more CPUs, such as, Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs), Programmable Array Logic (PAL), or the like, or combination thereof. The embedded logic hardware devices may directly execute embedded logic to perform actions. In at least one embodiment, one or more microcontrollers may be arranged to directly execute their own embedded logic to perform actions and access its own internal memory and its own external Input and Output Interfaces (e.g., hardware pins and/or wireless transceivers) to perform actions, such as Systems on a Chip (SOCs), or the like.

While this technology has been particularly shown and described with references to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the technology as defined by the appended claims. 

What is claimed is:
 1. A smart door open bot apparatus comprising: a camera for detecting a foot portion of at least one authorized user in the vicinity of a door latched with the bot; a sensor that detects the at least one authorized user standing in a predetermined range from the door latched with the bot; a docking module including an energy release button which outputs a drive signal for opening and closing the door; wherein the sensor directed by the camera determines whether the at least one authorized user has an intention of: aspects towards the door based on whether a detection signal indicative of detecting the foot portion is input from the camera, characterized in that the sensor further determines whether the at least one authorized user does not stand in the predetermined range from the door latched to the bot and the door can be opened or closed based on the detection signal from the sensor, and wherein the energy release button is configured to output the drive signal for opening and closing the door when the sensor directed by the camera determines that the at least one authorized user has an intention of one of a plurality of aspects towards the door based on the detection of the foot portion by the camera while the at least one authorized user does not stand in the predetermined range from the door; a screen which displays one of a plurality of messages that reflects one of a set of commands intended by the at least one authorized user; and a clamp which automatically latches with the door to self-calibrate operative of at least one mode.
 2. The smart door open bot apparatus of claim 1, further comprising a battery pack for exchanging at least one powered battery placed inside the smart door open bot.
 3. The smart door open bot apparatus of claim 1, wherein the sensor is configured for receiving data relating to the aspects of the at least one authorized user, including data from the camera, the sensor, or a combination thereof.
 4. The smart door open bot apparatus of claim 3, configured for extracting, at the smart door open bot, from the received data, features relevant to events relating to the at least one authorized user.
 5. The smart door open bot apparatus of claim 4, configured for extracting, at the smart door open bot, at least one intent of at least one event relating to the at least one authorized user.
 6. The smart door open bot apparatus of claim 5, configured for performing, at the smart door open bot, an action based on the extracted at least one intent.
 7. The smart door open bot apparatus of claim 1, wherein the data relating to the aspects of the at least one authorized user comprises live data retrieved from a plurality of capture points that the at least one authorized user is exposed to and wherein the bot interacts with at least one of the camera, the sensor, a depth AI camera, microphone, smart mobile, smart watch, smart door lock, voice controller, or mobile robot.
 8. The smart door open bot apparatus of claim 1, wherein the at least one sensor comprises at least one of an audio sensor, video sensor, or biometric sensor.
 9. The smart door open bot apparatus of claim 1, wherein the data further comprises at least one of text, audio, video, social media content, chat, SMS, email, real-time movements, breathing, cardiac frequency, and sleep patterns.
 10. The smart door open bot apparatus of claim 1, wherein the one of the at least one of the set of commands is reflected from the at least one authorized user or occurrence when the smart door open bot adjusts height in accordance with the door during an event of opening or closing the door or any combination thereof.
 11. The smart door open bot apparatus of claim 1, wherein the camera matches walking patterns by detecting speed and direction of the foot of the at least one authorized user.
 12. The smart door open bot apparatus of claim 1, wherein the docking module acts as a lock member when engaged with a power transfer line, the power transfer line is locked to supply power to the bot.
 13. The smart door open bot apparatus of claim 1, wherein the docking module acts as a unlock member when engaged with a power transfer line, the power transfer line is unlocked to supply power to the bot.
 14. The smart door open bot apparatus of claim 1, wherein thickness of the door is maintained between minimum of three millimeter to maximum of thirty-five millimeter.
 15. The smart door open bot apparatus of claim 1, wherein gap between floor and the door is maintained between minimum of three millimeter to maximum of twenty-five millimeter.
 16. The smart door open bot apparatus of claim 1, wherein the bot is enabled to communicate via at least one interface for transmitting and receiving signals selected from the group consisting of a wired communications interface, a wireless communications interface, a cellular communications interface, a Wi-Fi communications interface, a near field communications interface, an infrared communications interface, a ZigBee communications interface, a Z-Wave communications interface and a Bluetooth communications interface. 